CN212073542U - Center-adjustable wheel - Google Patents
Center-adjustable wheel Download PDFInfo
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- CN212073542U CN212073542U CN201921398034.5U CN201921398034U CN212073542U CN 212073542 U CN212073542 U CN 212073542U CN 201921398034 U CN201921398034 U CN 201921398034U CN 212073542 U CN212073542 U CN 212073542U
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Abstract
A center-adjustable wheel belongs to the field of vehicles. The main problem of current vehicle wheel center position fixed, the unable normal travel of vehicle when open-air non-structural road surface vehicle chassis contacts with the environment of solving. The wheel center position of the wheel is adjusted through the coordinated movement of three electro-hydraulic servo actuators on the wheel. A touch screen in the control system is used as a human-computer interaction interface, and functions of function selection and parameter setting can be realized; and after receiving the command, the wheel microcontroller performs corresponding calculation to coordinate and control the coordinated movement of each electro-hydraulic servo actuator of the wheel, so that the expected wheel center position CAN be realized, and a certain driving torque CAN be provided. The invention realizes the real-time dynamic adjustment of the wheel center position of the wheel, can improve the comfort of passengers, and can also improve the adaptability of the vehicle to different road surfaces and the running safety.
Description
The technical field is as follows:
the invention relates to a center-adjustable wheel, and belongs to the field of vehicles.
Background art:
the vehicle is one of the common travel tools in modern life, and the function of the vehicle in military affairs, industry and daily life of people is increasingly prominent. The wheel is taken as an important component unit of the vehicle, plays a role of lifting, but the wheel center of the wheel of the existing vehicle is fixed relative to the wheel, and the normal running of the vehicle is affected by the contact between the wheel axle and the ground environment easily caused in the running process of a non-structural road surface in the field.
The invention content is as follows:
the invention provides a center-adjustable wheel, aiming at solving the problems that the wheel center of the existing wheel is fixed, and the vehicle cannot normally run when a vehicle chassis on a field non-structural road surface is in contact with the environment.
The invention relates to a center-adjustable wheel which mainly comprises a mechanical structure and a control system. The mechanical structure mainly comprises a wheel outer ring (A1), a wheel center connecting piece (A2), a first electro-hydraulic servo actuator (A4), a second electro-hydraulic servo actuator (A7), a third electro-hydraulic servo actuator (A10), a first connecting pin shaft (A3), a second connecting pin shaft (A5), a third connecting pin shaft (A6), a fourth connecting pin shaft (A8), a fifth connecting pin shaft (A9) and a sixth connecting pin shaft (A11).
The utility model provides an adjustable center wheel control system includes touch-sensitive screen (B1), main control unit (B2), inertia measuring unit (B3), CAN bus interface circuit (B4), microcontroller (B5), DA converter (B6), AD converter (B7), first hydraulic valve drive circuit (B8), second hydraulic valve drive circuit (B9), third hydraulic valve drive circuit (B10).
The wheel outer ring (A1) is respectively connected with one ends of a first electro-hydraulic servo actuator (A4), a second electro-hydraulic servo actuator (A7) and a third electro-hydraulic servo actuator (A10) through a first connecting pin shaft (A3), a third connecting pin shaft (A6) and a fifth connecting pin shaft (A9), and the other ends of the first electro-hydraulic servo actuator (A4), the second electro-hydraulic servo actuator (A7) and the third electro-hydraulic servo actuator (A10) are respectively connected with a wheel center connecting piece (A2) through a second connecting pin shaft (A5), a fourth connecting pin shaft (A8) and a sixth connecting pin shaft (A11).
The touch-sensitive screen (B1), inertia measurement unit (B3) output all are connected to main control unit (B2) input, main control unit (B2) are through CAN bus interface circuit (B4) and microcontroller (B5) transmission signal, microcontroller (B5) output is connected with DA converter (B6) input, DA converter (B6) output respectively with first hydrovalve drive circuit (B8), second hydrovalve drive circuit (B9), third hydrovalve drive circuit (B10) input connection, AD converter (B7) output is connected with microcontroller (B5) input.
The AD converter (B7) is used for collecting information of displacement sensors of the first electro-hydraulic servo actuator (A4), the second electro-hydraulic servo actuator (A7) and the third electro-hydraulic servo actuator (A10).
The CAN bus interface circuit (B4) comprises a plurality of input interfaces for being connected with other wheel microcontrollers, and the number of the interfaces is the same as that of the self-aligning wheels.
Microcontroller (B5) through the motion of first electro-hydraulic servo actuator (A4), second electro-hydraulic servo actuator (A7), third electro-hydraulic servo actuator (A10) of coordinated control, both can realize the wheel center position control, can drive wheel center connecting piece (A2) axle center rotation relatively in wheel outer lane (A1) again.
The touch screen (B1) is provided with a button for manually aligning the wheels, automatically aligning the wheels and needing no aligning, and the position information of the wheel centers of the wheels can be respectively set in a manual mode.
When the wheel center position of the wheel needs to be adjusted manually, the driver starts the wheel center adjusting function of the touch screen (B1), and the touch screen (B1) is provided with the aligning parameters of each wheel, the main controller (B2) receives the instruction and then transmits the instruction to the microcontroller (B5) through the CAN bus interface circuit (B4), and after the microcontroller (B5) receives the instruction, calculating displacement commands of a first electro-hydraulic servo actuator (A4), a second electro-hydraulic servo actuator (A7) and a third electro-hydraulic servo actuator (A10) of the wheel, and the control signals are respectively transmitted to a first hydraulic valve drive circuit (B8), a second hydraulic valve drive circuit (B9) and a third hydraulic valve drive circuit (B10) through a DA converter (B6), and respectively drive a first electro-hydraulic servo actuator (A4), a second electro-hydraulic servo actuator (A7) and a third electro-hydraulic servo actuator (A10) to act, so that the wheel center position of the wheel is adjusted.
When the road condition is simple and the wheel center needs to be adjusted, a driver starts an automatic wheel aligning function through a touch screen (B1), after a main controller (B2) receives aligning instructions, according to vehicle body angle information fed back by an inertia measurement unit (B3), the main controller (B2) calculates aligning instructions of wheels in real time, the aligning instructions of the wheels are transmitted to a corresponding wheel microcontroller (B5) through a CAN bus interface circuit (B4), after the instructions are received, the wheel microcontrollers (B5) respectively calculate displacement instructions of a first electro-hydraulic servo actuator (A4), a second electro-hydraulic servo actuator (A7) and a third electro-hydraulic servo actuator (A10) of the wheels, and the displacement instructions are transmitted to a first hydraulic valve driving circuit (B8), a second hydraulic valve driving circuit (B9) and a third hydraulic valve driving circuit (B10) through a corresponding wheel DA converter (B6), and drive the first electro-hydraulic servo actuator (A4) and the third electro-hydraulic servo actuator, And the second electro-hydraulic servo actuator (A7) and the third electro-hydraulic servo actuator (A10) act to realize the adjustment of the wheel center position of the wheel.
When the road condition is simple and the wheel center does not need to be adjusted, when the vehicle runs on a flat road surface, a driver starts a wheel center-aligning-free command through a touch screen (B1), after the main controller (B2) receives the command, the geometric center position of each wheel is used as the wheel center command of each wheel, the wheel center command is transmitted to a corresponding wheel microcontroller (B5) through a CAN bus interface circuit (B4), after the command is received, the wheel microcontrollers (B5) respectively calculate displacement commands of a first electro-hydraulic servo actuator (A4), a second electro-hydraulic servo actuator (A7) and a third electro-hydraulic servo actuator (A10) of each wheel, and the displacement commands are transmitted to a first hydraulic valve driving circuit (B8), a second hydraulic valve driving circuit (B9) and a third hydraulic valve driving circuit (B10) through a corresponding wheel DA converter (B6), and the first electro-hydraulic servo actuator (A4), the second servo actuator (A7) and the third hydraulic valve driving circuit (B10) are driven, And the third electro-hydraulic servo actuator (A10) acts to realize the adjustment of the wheel center position of the wheel.
The invention has the advantages that: the wheel centers of the wheels can be correspondingly adjusted according to different road conditions so as to adapt to different road surfaces, meanwhile, each wheel of the vehicle can be independently adjusted and can provide certain driving force, the cross-country capacity of the vehicle is obviously improved, the problem that the vehicle cannot move on a non-structural road surface due to the fact that a chassis is in contact with the ground is effectively solved, and the safety and the stability of the operation of the vehicle can be improved.
The invention has reasonable structural design, flexible adjustment, high safety and wide trial range, is suitable for various road conditions, and can obviously improve the comfort of personnel when the vehicle runs on a slope road.
Drawings
FIG. 1 is a block diagram of a center-adjustable wheel according to the present invention;
fig. 2 is a block diagram of a center-adjustable wheel controller according to the present invention.
Detailed Description
The first embodiment is as follows: the following describes the present embodiment with reference to fig. 1, and the center-adjustable wheel of the present embodiment mainly includes a wheel outer ring (a1), a wheel center connector (a2), a first electro-hydraulic servo actuator (a4), a second electro-hydraulic servo actuator (a7), a third electro-hydraulic servo actuator (a10), a first coupling pin (A3), a second coupling pin (a5), a third coupling pin (a6), a fourth coupling pin (A8), a fifth coupling pin (a9), and a sixth coupling pin (a 11).
The wheel outer ring (A1) is respectively connected with one ends of a first electro-hydraulic servo actuator (A4), a second electro-hydraulic servo actuator (A7) and a third electro-hydraulic servo actuator (A10) through a first connecting pin shaft (A3), a third connecting pin shaft (A6) and a fifth connecting pin shaft (A9), and the other ends of the first electro-hydraulic servo actuator (A4), the second electro-hydraulic servo actuator (A7) and the third electro-hydraulic servo actuator (A10) are respectively connected with a wheel center connecting piece (A2) through a second connecting pin shaft (A5), a fourth connecting pin shaft (A8) and a sixth connecting pin shaft (A11).
The second embodiment is as follows: the following describes an embodiment with reference to fig. 2, and the center-adjustable wheel control system according to the present invention includes a touch screen (B1), a main controller (B2), an inertia measurement unit (B3), a CAN bus interface circuit (B4), a microcontroller (B5), a DA converter (B6), an AD converter (B7), a first hydraulic valve driving circuit (B8), a second hydraulic valve driving circuit (B9), and a third hydraulic valve driving circuit (B10).
The touch-sensitive screen (B1), inertia measurement unit (B3) output all are connected to main control unit (B2) input, main control unit (B2) are through CAN bus interface circuit (B4) and microcontroller (B5) transmission signal, microcontroller (B5) output is connected with DA converter (B6) input, DA converter (B6) output respectively with first hydrovalve drive circuit (B8), second hydrovalve drive circuit (B9), third hydrovalve drive circuit (B10) input connection, AD converter (B7) output is connected with microcontroller (B5) input.
The AD converter (B7) is used for collecting information of displacement sensors of the first electro-hydraulic servo actuator (A4), the second electro-hydraulic servo actuator (A7) and the third electro-hydraulic servo actuator (A10).
The CAN bus interface circuit (B4) comprises a plurality of input interfaces for being connected with other wheel microcontrollers, and the number of the interfaces is the same as that of the self-aligning wheels.
Microcontroller (B5) through the motion of first electro-hydraulic servo actuator (A4), second electro-hydraulic servo actuator (A7), third electro-hydraulic servo actuator (A10) of coordinated control, both can realize the wheel center position control, can drive wheel center connecting piece (A2) axle center rotation relatively in wheel outer lane (A1) again.
The touch screen (B1) is provided with a button for manually aligning the wheels, automatically aligning the wheels and needing no aligning, and the position information of the wheel centers of the wheels can be respectively set in a manual mode.
When the wheel center position of the wheel needs to be adjusted manually, the driver starts the wheel center adjusting function of the touch screen (B1), and the touch screen (B1) is provided with the aligning parameters of each wheel, the main controller (B2) receives the instruction and then transmits the instruction to the microcontroller (B5) through the CAN bus interface circuit (B4), and after the microcontroller (B5) receives the instruction, calculating displacement commands of a first electro-hydraulic servo actuator (A4), a second electro-hydraulic servo actuator (A7) and a third electro-hydraulic servo actuator (A10) of the wheel, and the control signals are respectively transmitted to a first hydraulic valve drive circuit (B8), a second hydraulic valve drive circuit (B9) and a third hydraulic valve drive circuit (B10) through a DA converter (B6), and respectively drive a first electro-hydraulic servo actuator (A4), a second electro-hydraulic servo actuator (A7) and a third electro-hydraulic servo actuator (A10) to act, so that the wheel center position of the wheel is adjusted.
When the road condition is simple and the wheel center needs to be adjusted, a driver starts an automatic wheel aligning function through a touch screen (B1), after a main controller (B2) receives aligning instructions, according to vehicle body angle information fed back by an inertia measurement unit (B3), the main controller (B2) calculates aligning instructions of wheels in real time, the aligning instructions of the wheels are transmitted to a corresponding wheel microcontroller (B5) through a CAN bus interface circuit (B4), after the instructions are received, the wheel microcontrollers (B5) respectively calculate displacement instructions of a first electro-hydraulic servo actuator (A4), a second electro-hydraulic servo actuator (A7) and a third electro-hydraulic servo actuator (A10) of the wheels, and the displacement instructions are transmitted to a first hydraulic valve driving circuit (B8), a second hydraulic valve driving circuit (B9) and a third hydraulic valve driving circuit (B10) through a corresponding wheel DA converter (B6), and drive the first electro-hydraulic servo actuator (A4) and the third electro-hydraulic servo actuator, And the second electro-hydraulic servo actuator (A7) and the third electro-hydraulic servo actuator (A10) act to realize the adjustment of the wheel center position of the wheel.
When the road condition is simple and the wheel center does not need to be adjusted, when the vehicle runs on a flat road surface, a driver starts a wheel center-free command through a touch screen (B1), after the main controller (B2) receives the command, the geometric center position of each wheel is used as a wheel center command of each wheel, the wheel center command is transmitted to a corresponding wheel microcontroller (B5) through a CAN bus interface circuit (B4), after the command is received, the wheel microcontrollers (B5) respectively calculate displacement commands of a first electro-hydraulic servo actuator (A4), a second electro-hydraulic servo actuator (A7) and a third electro-hydraulic servo actuator (A10) of each wheel, and the displacement commands are transmitted to a first hydraulic valve driving circuit (B8), a second hydraulic valve driving circuit (B9) and a third hydraulic valve driving circuit (B10) through a corresponding wheel DA converter (B6), and drive the first electro-hydraulic servo actuator (A4), the second servo actuator (A7) and the third hydraulic valve driving circuit (B10), And the third electro-hydraulic servo actuator (A10) acts to realize the adjustment of the wheel center position of the wheel.
In the embodiment, the first hydraulic valve driving circuit (B8), the second hydraulic valve driving circuit (B9) and the third hydraulic valve driving circuit (B10) are used for amplifying the power of the voltage signal output by the DA converter (B6) so as to meet the requirements of the first electro-hydraulic servo actuator (a4), the second electro-hydraulic servo actuator (a7) and the third electro-hydraulic servo actuator (a 10).
The main controller (B2) and the microcontroller (B5) are floating-point DSP, the DA converter (B6) is 16-bit precision, the AD converter (B7) is 16-bit precision, and the inertial measurement unit (B3) can detect three-axis angular velocity and three-axis acceleration information under a Cartesian coordinate system.
The hydraulic valves of the first electro-hydraulic servo actuator (A4), the second electro-hydraulic servo actuator (A7) and the third electro-hydraulic servo actuator (A10) are digital hydraulic valves or electro-hydraulic proportional valves or electro-hydraulic servo valves.
The hydraulic cylinders of the first electro-hydraulic servo actuator (A4), the second electro-hydraulic servo actuator (A7) and the third electro-hydraulic servo actuator (A10) are all single-rod hydraulic cylinders.
The operation of the invention comprises the following four working conditions:
the working condition I is as follows:
when the wheel center position of the wheel needs to be adjusted manually, the driver starts the wheel center adjusting function of the touch screen (B1), and the touch screen (B1) is provided with the aligning parameters of each wheel, the main controller (B2) receives the instruction and then transmits the instruction to the microcontroller (B5) through the CAN bus interface circuit (B4), and after the microcontroller (B5) receives the instruction, calculating displacement commands of a first electro-hydraulic servo actuator (A4), a second electro-hydraulic servo actuator (A7) and a third electro-hydraulic servo actuator (A10) of the wheel, and respectively transmitted to a first hydraulic valve driving circuit (B8), a second hydraulic valve driving circuit (B9) and a third hydraulic valve driving circuit (B10) through a DA converter (B6), and then the first electro-hydraulic servo actuator (A4), the second electro-hydraulic servo actuator (A7) and the third electro-hydraulic servo actuator (A10) are driven to act, and the wheel center position of the wheel is adjusted.
Working conditions are as follows:
when the road condition is simple and the wheel center needs to be adjusted, a driver starts an automatic wheel aligning function through a touch screen (B1), after a main controller (B2) receives aligning instructions, according to vehicle body angle information fed back by an inertia measurement unit (B3), the main controller (B2) calculates aligning instructions of wheels in real time, the aligning instructions of the wheels are transmitted to a corresponding wheel microcontroller (B5) through a CAN bus interface circuit (B4), after the instructions are received, the wheel microcontrollers (B5) respectively calculate displacement instructions of a first electro-hydraulic servo actuator (A4), a second electro-hydraulic servo actuator (A7) and a third electro-hydraulic servo actuator (A10) of the wheels, and the displacement instructions are transmitted to a first hydraulic valve driving circuit (B8), a second hydraulic valve driving circuit (B9) and a third hydraulic valve driving circuit (B10) through corresponding wheel DA converters (B6), and the first electro-hydraulic servo actuators (A4) and the third electro-hydraulic servo actuators are respectively driven, And the second electro-hydraulic servo actuator (A7) and the third electro-hydraulic servo actuator (A10) act to realize the adjustment of the wheel center position of the wheel.
Working conditions are as follows:
when the road condition is simple and the wheel center does not need to be adjusted, when the vehicle runs on a flat road surface, a driver starts a wheel center-free command through a touch screen (B1), after the main controller (B2) receives the command, the geometric center position of each wheel is used as a wheel center command of each wheel, the wheel center command is transmitted to a corresponding wheel microcontroller (B5) through a CAN bus interface circuit (B4), after the command is received, the wheel microcontrollers (B5) respectively calculate displacement commands of a first electro-hydraulic servo actuator (A4), a second electro-hydraulic servo actuator (A7) and a third electro-hydraulic servo actuator (A10) of each wheel, and the displacement commands are transmitted to a first hydraulic valve driving circuit (B8), a second hydraulic valve driving circuit (B9) and a third hydraulic valve driving circuit (B10) through a corresponding wheel DA converter (B6), and drive the first electro-hydraulic servo actuator (A4), the second servo actuator (A7) and the third hydraulic valve driving circuit (B10), And the third electro-hydraulic servo actuator (A10) acts to realize the adjustment of the wheel center position of the wheel.
Working conditions are as follows: the first working condition, the second working condition and the third working condition can be provided with a pure wheel center position adjusting function through the touch screen (B1), and can also be provided with a wheel center position adjusting function and a driving torque simultaneous working function.
Claims (7)
1. A kind of adjustable center wheel, characterized by that, it mainly includes two parts of mechanical structure and control system; the mechanical structure mainly comprises a wheel outer ring (A1), a wheel center connecting piece (A2), a first electro-hydraulic servo actuator (A4), a second electro-hydraulic servo actuator (A7), a third electro-hydraulic servo actuator (A10), a first connecting pin shaft (A3), a second connecting pin shaft (A5), a third connecting pin shaft (A6), a fourth connecting pin shaft (A8), a fifth connecting pin shaft (A9) and a sixth connecting pin shaft (A11);
a center-adjustable wheel control system comprises a touch screen (B1), a main controller (B2), an inertia measurement unit (B3), a CAN bus interface circuit (B4), a microcontroller (B5), a DA converter (B6), an AD converter (B7), a first hydraulic valve drive circuit (B8), a second hydraulic valve drive circuit (B9) and a third hydraulic valve drive circuit (B10);
the wheel outer ring (A1) is respectively connected with one ends of a first electro-hydraulic servo actuator (A4), a second electro-hydraulic servo actuator (A7) and a third electro-hydraulic servo actuator (A10) through a first connecting pin shaft (A3), a third connecting pin shaft (A6) and a fifth connecting pin shaft (A9), and the other ends of the first electro-hydraulic servo actuator (A4), the second electro-hydraulic servo actuator (A7) and the third electro-hydraulic servo actuator (A10) are respectively connected with a wheel center connecting piece (A2) through a second connecting pin shaft (A5), a fourth connecting pin shaft (A8) and a sixth connecting pin shaft (A11);
the touch screen (B1) and inertia measurement unit (B3) output ends are connected to the input end of a main controller (B2), the main controller (B2) transmits signals with a microcontroller (B5) through a CAN bus interface circuit (B4), the output end of the microcontroller (B5) is connected with the input end of a DA converter (B6), the output end of the DA converter (B6) is connected with the input ends of a first hydraulic valve driving circuit (B8), a second hydraulic valve driving circuit (B9) and a third hydraulic valve driving circuit (B10), and the output end of the AD converter (B7) is connected with the input end of the microcontroller (B5);
the AD converter (B7) is used for collecting information of displacement sensors of a first electro-hydraulic servo actuator (A4), a second electro-hydraulic servo actuator (A7) and a third electro-hydraulic servo actuator (A10);
the CAN bus interface circuit (B4) comprises a plurality of input interfaces which are used for being connected with other wheel microcontrollers, and the number of the interfaces is the same as that of the self-aligning wheels;
the microcontroller (B5) controls the first electro-hydraulic servo actuator (A4), the second electro-hydraulic servo actuator (A7) and the third electro-hydraulic servo actuator (A10) to move in a coordinated manner, so that the position of the wheel center can be adjusted, and the outer ring (A1) of the wheel can be driven to rotate relative to the axis of the wheel center connecting piece (A2);
the touch screen (B1) is provided with a button for manually aligning the wheels, automatically aligning the wheels and needing no aligning, and the position information of the wheel centers of the wheels can be respectively set in a manual mode;
when the wheel center position of the wheel needs to be adjusted manually, the driver starts the wheel center adjusting function of the touch screen (B1), and the touch screen (B1) is provided with the aligning parameters of each wheel, the main controller (B2) receives the instruction and then transmits the instruction to the microcontroller (B5) through the CAN bus interface circuit (B4), and after the microcontroller (B5) receives the instruction, calculating displacement commands of a first electro-hydraulic servo actuator (A4), a second electro-hydraulic servo actuator (A7) and a third electro-hydraulic servo actuator (A10) of the wheel, the hydraulic control system is respectively transmitted to a first hydraulic valve driving circuit (B8), a second hydraulic valve driving circuit (B9) and a third hydraulic valve driving circuit (B10) through a DA converter (B6), and respectively drives a first electro-hydraulic servo actuator (A4), a second electro-hydraulic servo actuator (A7) and a third electro-hydraulic servo actuator (A10) to act, so that the position of the wheel center of the wheel is adjusted;
when the road condition is simple and the wheel center needs to be adjusted, a driver starts an automatic wheel aligning function through a touch screen (B1), after a main controller (B2) receives aligning instructions, according to vehicle body angle information fed back by an inertia measurement unit (B3), the main controller (B2) calculates aligning instructions of wheels in real time, the aligning instructions of the wheels are transmitted to a corresponding wheel microcontroller (B5) through a CAN bus interface circuit (B4), after the instructions are received, the wheel microcontrollers (B5) respectively calculate displacement instructions of a first electro-hydraulic servo actuator (A4), a second electro-hydraulic servo actuator (A7) and a third electro-hydraulic servo actuator (A10) of the wheels, and the displacement instructions are transmitted to a first hydraulic valve driving circuit (B8), a second hydraulic valve driving circuit (B9) and a third hydraulic valve driving circuit (B10) through a corresponding wheel DA converter (B6), and drive the first electro-hydraulic servo actuator (A4) and the third electro-hydraulic servo actuator, The second electro-hydraulic servo actuator (A7) and the third electro-hydraulic servo actuator (A10) act to realize the adjustment of the wheel center position of the wheel;
when the road condition is simple and the wheel center does not need to be adjusted, when the vehicle runs on a flat road surface, a driver starts a wheel center-aligning-free command through a touch screen (B1), after the main controller (B2) receives the command, the geometric center position of each wheel is used as the wheel center command of each wheel, the wheel center command is transmitted to a corresponding wheel microcontroller (B5) through a CAN bus interface circuit (B4), after the command is received, the wheel microcontrollers (B5) respectively calculate displacement commands of a first electro-hydraulic servo actuator (A4), a second electro-hydraulic servo actuator (A7) and a third electro-hydraulic servo actuator (A10) of each wheel, and the displacement commands are transmitted to a first hydraulic valve driving circuit (B8), a second hydraulic valve driving circuit (B9) and a third hydraulic valve driving circuit (B10) through a corresponding wheel DA converter (B6), and the first electro-hydraulic servo actuator (A4), the second servo actuator (A7) and the third hydraulic valve driving circuit (B10) are driven, And the third electro-hydraulic servo actuator (A10) acts to realize the adjustment of the wheel center position of the wheel.
2. The adjustable center wheel of claim 1, wherein the master controller and the wheel microcontroller communicate via a CAN bus.
3. The adjustable center wheel of claim 1, wherein the main controller and the wheel microcontroller are each floating point DSPs.
4. The adjustable center wheel of claim 1, wherein the body attitude information is measured by an inertial measurement unit.
5. The adjustable-center wheel according to claim 1, wherein the microcontroller is capable of controlling the electro-hydraulic servo actuators of the same wheel and of effecting coordinated movement of the electro-hydraulic servo actuators.
6. The adjustable-center wheel according to claim 1, wherein the wheel operating state can be set through a touch screen.
7. The adjustable-center wheel according to claim 1, wherein the AD converter and the DA converter are each 16-bit accurate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921398034.5U CN212073542U (en) | 2019-08-26 | 2019-08-26 | Center-adjustable wheel |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921398034.5U CN212073542U (en) | 2019-08-26 | 2019-08-26 | Center-adjustable wheel |
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| Publication Number | Publication Date |
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| CN212073542U true CN212073542U (en) | 2020-12-04 |
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| CN201921398034.5U Expired - Fee Related CN212073542U (en) | 2019-08-26 | 2019-08-26 | Center-adjustable wheel |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110395072A (en) * | 2019-08-26 | 2019-11-01 | 哈尔滨理工大学 | A kind of adjusting center wheel |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110395072A (en) * | 2019-08-26 | 2019-11-01 | 哈尔滨理工大学 | A kind of adjusting center wheel |
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